Energy modeling of differential drive robots

Mudasser Wahab; Fernando Rios-Gutierrez; Adel El Shahat

doi:10.1109/SECON.2015.7133023

Energy modeling of differential drive robots

Mudasser Wahab
, Fernando Rios-Gutierrez
, Adel El Shahat

Electrical & Computer Engineering

Georgia Southern University

Research output: Contribution to book or proceeding › Conference article › peer-review

14 Scopus citations

Abstract

Improving the energy efficiency of robots and increasing the time of operation has been a very hot research topic in recent times there has been a lot of work on optimizing energy consumption, especially in mobile robots. Researchers have been focused on designing motion planning techniques along with velocity control to reduce the energy expenditure. But there has been a lack of a well-defined and a complete energy model that can act as a cost function for all the optimization algorithms. Having such a model not only provides a platform for energy loss control but can also give an idea about the nature of the losses and the cause of their occurrence. In this paper we first investigated the various energy loss components in a differential drive robot and presented a well-defined and a complete energy model. In order to validate our model we moved the robot with a specific velocity profile and measured all the losses.

Original language	English
Title of host publication	IEEE SoutheastCon 2015 - Conference Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Edition	June
ISBN (Electronic)	9781467373005
DOIs	https://doi.org/10.1109/SECON.2015.7133023
State	Published - Jun 24 2015
Event	IEEE SoutheastCon 2015 - Fort Lauderdale, United States Duration: Apr 9 2015 → Apr 12 2015

Publication series

Name	Conference Proceedings - IEEE SOUTHEASTCON
Number	June
Volume	2015-June
ISSN (Print)	1091-0050
ISSN (Electronic)	1558-058X

Conference

Conference	IEEE SoutheastCon 2015
Country/Territory	United States
City	Fort Lauderdale
Period	04/9/15 → 04/12/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Scopus Subject Areas

Computer Networks and Communications
Software
Electrical and Electronic Engineering
Control and Systems Engineering
Signal Processing

Keywords

DC motors
Differential Drive Robots
Energy Cost Function
Energy Modeling
Kinetic Energy
Robot's Energy
Rolling Friction

Access to Document

10.1109/SECON.2015.7133023

Cite this

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title = "Energy modeling of differential drive robots",

abstract = "Improving the energy efficiency of robots and increasing the time of operation has been a very hot research topic in recent times there has been a lot of work on optimizing energy consumption, especially in mobile robots. Researchers have been focused on designing motion planning techniques along with velocity control to reduce the energy expenditure. But there has been a lack of a well-defined and a complete energy model that can act as a cost function for all the optimization algorithms. Having such a model not only provides a platform for energy loss control but can also give an idea about the nature of the losses and the cause of their occurrence. In this paper we first investigated the various energy loss components in a differential drive robot and presented a well-defined and a complete energy model. In order to validate our model we moved the robot with a specific velocity profile and measured all the losses.",

keywords = "DC motors, Differential Drive Robots, Energy Cost Function, Energy Modeling, Kinetic Energy, Robot's Energy, Rolling Friction",

author = "Mudasser Wahab and Fernando Rios-Gutierrez and \{El Shahat\}, Adel",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE SoutheastCon 2015 ; Conference date: 09-04-2015 Through 12-04-2015",

year = "2015",

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doi = "10.1109/SECON.2015.7133023",

language = "English",

series = "Conference Proceedings - IEEE SOUTHEASTCON",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Wahab, M, Rios-Gutierrez, F & El Shahat, A 2015, Energy modeling of differential drive robots. in IEEE SoutheastCon 2015 - Conference Proceedings. June edn, 7133023, Conference Proceedings - IEEE SOUTHEASTCON, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., IEEE SoutheastCon 2015, Fort Lauderdale, United States, 04/9/15. https://doi.org/10.1109/SECON.2015.7133023

Energy modeling of differential drive robots. / Wahab, Mudasser; Rios-Gutierrez, Fernando; El Shahat, Adel.
IEEE SoutheastCon 2015 - Conference Proceedings. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. 7133023 (Conference Proceedings - IEEE SOUTHEASTCON; Vol. 2015-June, No. June).

Research output: Contribution to book or proceeding › Conference article › peer-review

TY - GEN

T1 - Energy modeling of differential drive robots

AU - Wahab, Mudasser

AU - Rios-Gutierrez, Fernando

AU - El Shahat, Adel

PY - 2015/6/24

Y1 - 2015/6/24

N2 - Improving the energy efficiency of robots and increasing the time of operation has been a very hot research topic in recent times there has been a lot of work on optimizing energy consumption, especially in mobile robots. Researchers have been focused on designing motion planning techniques along with velocity control to reduce the energy expenditure. But there has been a lack of a well-defined and a complete energy model that can act as a cost function for all the optimization algorithms. Having such a model not only provides a platform for energy loss control but can also give an idea about the nature of the losses and the cause of their occurrence. In this paper we first investigated the various energy loss components in a differential drive robot and presented a well-defined and a complete energy model. In order to validate our model we moved the robot with a specific velocity profile and measured all the losses.

AB - Improving the energy efficiency of robots and increasing the time of operation has been a very hot research topic in recent times there has been a lot of work on optimizing energy consumption, especially in mobile robots. Researchers have been focused on designing motion planning techniques along with velocity control to reduce the energy expenditure. But there has been a lack of a well-defined and a complete energy model that can act as a cost function for all the optimization algorithms. Having such a model not only provides a platform for energy loss control but can also give an idea about the nature of the losses and the cause of their occurrence. In this paper we first investigated the various energy loss components in a differential drive robot and presented a well-defined and a complete energy model. In order to validate our model we moved the robot with a specific velocity profile and measured all the losses.

KW - DC motors

KW - Differential Drive Robots

KW - Energy Cost Function

KW - Energy Modeling

KW - Kinetic Energy

KW - Robot's Energy

KW - Rolling Friction

UR - https://www.scopus.com/pages/publications/84938152756

U2 - 10.1109/SECON.2015.7133023

DO - 10.1109/SECON.2015.7133023

M3 - Conference article

AN - SCOPUS:84938152756

T3 - Conference Proceedings - IEEE SOUTHEASTCON

BT - IEEE SoutheastCon 2015 - Conference Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE SoutheastCon 2015

Y2 - 9 April 2015 through 12 April 2015

ER -

Energy modeling of differential drive robots

Abstract

Publication series

Conference

UN SDGs

Scopus Subject Areas

Keywords

Access to Document

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Cite this